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update main

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This commit is contained in:
Ilya Uraev 2024-04-22 15:06:46 +03:00
parent d5e7768d90
commit e8ea09e020
20 changed files with 315 additions and 168 deletions
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10
rbs_bt_executor/bt_trees/test_tree.xml
View file

@ -14,19 +14,19 @@
<Sequence>
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_topose" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
</Sequence>
</BehaviorTree>

11
rbs_bt_executor/launch/rbs_executor.launch.py
View file

@ -27,11 +27,16 @@ def generate_launch_description():
Node(
package='behavior_tree',
executable='bt_engine',
# prefix=['gdbserver localhost:3000'],
# prefix=['gdbserver localhost:1234'],
parameters=[
btfile_param,
bt_skills_param
]
bt_skills_param,
{'use_sim_time': True}
],
# arguments=[
# "--ros-args",
# "--log-level", "debug",
# ],
)
]

2
rbs_bt_executor/src/EnvManager.cpp
View file

@ -35,7 +35,7 @@ public:
if (response->ok) {
// TODO We need better perfomance for call it in another place for all BT nodes
// - Make it via shared_ptr forward throught blackboard
auto t = std::make_shared<rbs_utils::AssemblyConfigLoader>("asp-example2", _node);
auto t = std::make_shared<rbs_utils::AssemblyConfigLoader>("asp-example", _node);
auto p = t->getWorkspaceInspectorTrajectory();
setOutput("workspace", p);
return BT::NodeStatus::SUCCESS;

4
rbs_bt_executor/src/MoveToPose.cpp
View file

@ -29,8 +29,8 @@ class MoveToPose : public BtAction<MoveToPoseAction> {
goal.robot_name = robot_name_;
goal.target_pose = pose_des;
goal.end_effector_acceleration = 0.5;
goal.end_effector_velocity = 0.5;
goal.end_effector_acceleration = 1.0;
goal.end_effector_velocity = 1.0;
RCLCPP_INFO(_node->get_logger(), "Goal populated");